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A Method for Registration of 3D SurfacesICP Algorithm
Erhan Avinal
Introduction
Building 3D models of real world objects Data capture using range camera Registration Data merge
Registration - Goal
To transform sets of surface measurements into a common coordinate system
A model shape and a data shape
Registration
If we know correct correspondences, we can find correct translation and rotation
Registration
Issue : Finding corresponding points ICP : Assume closest points correspond to
each other, compute the best transform
Rotation and translation
ICP Algorithm
Can be used with
Distance
Euclidian distances
Point to point set
Point to line segment
Point to triangle
Point to parametric entity
Point to implicit entity
Algorithm
Point Set P with Np points, model shape X Iterate until convergence
Compute closest points Squared Euclidian distances
Compute registration (rotation and translation) Apply the registration
New point set
Other Issues
Color matching Sharp, 2002 Godin, 1995 Johnson, 1997
Orientation Godin 2001 Schutz 1998
Other Issues
Weighting Important nodes
Initial point selection Uniform sampling Random Select in regions of high curvature
k-d trees to find closest points
Results
Results
Results
Results
Results
Conclusions
ICP can register a data shape to a model shape
Independent of shape representation Does not require preprocessing of 3D data A good initial estimate of transformation is
required High computation cost
Future Work
Computational speedup Parallel testing Allow deformations
References
Original Paper: P.J. Besl, N.D. McKay,A Method of Registration of 3D
Shapes, 1992 T. Jost, Fast Geometric Matching for Shape
Registration, 2002 S.M. Rusinkiewicz, Real time Acquisition and
Rendering of Large 3D Models, 2001 http://www.ee.surrey.ac.uk/Research/VSSP/3DVisio
n/model_building/model.html
Thanks